Towards a Formal Model of Recursive Self-Reflection

Self-awareness holds the promise of better decision making based on a comprehensive assessment of a system\u27s own situation. Therefore it has been studied for more than ten years in a range of settings and applications. However, in the literature the term has been used in a variety of meanings and today there is no consensus on what features and properties it should include. In fact, researchers disagree on the relative benefits of a self-aware system compared to one that is very similar but lacks self-awareness. We sketch a formal model, and thus a formal definition, of self-awareness. The model is based on dynamic dataflow semantics and includes self-assessment, a simulation and an abstraction as facilitating techniques, which are modeled by spawning new dataflow actors in the system. Most importantly, it has a method to focus on any of its parts to make it a subject of analysis by applying abstraction, self-assessment and simulation. In particular, it can apply this process to itself, which we call recursive self-reflection. There is no arbitrary limit to this self-scrutiny except resource constraints

Weighted Round Robin Configuration for Worst-Case Delay Optimization in Network-on-Chip

We propose an approach for computing the end-to-end delay bound of individual variable bit-rate flows in a FIFO multiplexer with aggregate scheduling under Weighted Round Robin (WRR) policy. To this end, we use network calculus to derive per-flow end-to-end equivalent service curves employed for computing Least Upper Delay Bounds (LUDBs) of individual flows. Since real time applications are going to meet guaranteed services with lower delay bounds, we optimize weights in WRR policy to minimize LUDBs while satisfying performance constraints. We formulate two constrained delay optimization problems, namely, Minimize-Delay and Multiobjective optimization. Multi-objective optimization has both total delay bounds and their variance as minimization objectives. The proposed optimizations are solved using a genetic algorithm. A Video Object Plane Decoder (VOPD) case study exhibits 15.4% reduction of total worst-case delays and 40.3% reduction on the variance of delays when compared with round robin policy. The optimization algorithm has low run-time complexity, enabling quick exploration of large design spaces. We conclude that an appropriate weight allocation can be a valuable instrument for delay optimization in on-chip network designs

Least Upper Delay Bound for VBR Flows in Networks-on-Chip with Virtual Channels

Real-time applications such as multimedia and gaming require stringent performance guarantees, usually enforced by a tight upper bound on the maximum end-to-end delay. For FIFO multiplexed on-chip packet switched networks we consider worst-case delay bounds for Variable Bit-Rate (VBR) flows with aggregate scheduling, which schedules multiple flows as an aggregate flow. VBR Flows are characterized by a maximum transfer size (L), peak rate (p), burstiness (σ), and average sustainable rate (ρ). Based on network calculus, we present and prove theorems to derive per-flow end-to-end Equivalent Service Curves (ESC), which are in turn used for computing Least Upper Delay Bounds (LUDBs) of individual flows. In a realistic case study we find that the end-to-end delay bound is up to 46.9% more accurate than the case without considering the traffic peak behavior. Likewise, results also show similar improvements for synthetic traffic patterns. The proposed methodology is implemented in C++ and has low run-time complexity, enabling quick evaluation for large and complex SoCs

Skill Acquisition for Resource-Constrained Mobile Robots through Continuous Exploration

We present a cognitive mobile robot that acquires knowledge, and autonomously learns higher-level abstract capabilities based on play instincts, inspired by human behavior. To this end, we (i) model skills, (ii) model the robot’s sensor and actuator space based on elementary physical properties, and (iii) propose algorithms inspired by humans’ play instincts that allow the robot to autonomously learn the skills based on its sensor and actuator capabilities. We model general knowledge in the form of competencies (skills) of the mobile robot based on kinematic properties using physical quantities. Thus, by design, our approach has the potential to cover very generic application domains. To connect desired skills to the primitive capabilities of the robot’s sensors and actuators, it playfully explores the effects of its actions on its sensory input, thus autonomously learning relations and dependencies and eventually the desired skill. KnowRob is used for knowledge representation and reasoning, and the robot’s operation is based on ROS. In the experiments, we use a millirobot, sized 2 cm2, equipped with two wheels, motion, and distance sensors. We show that our cognitive mobile robot can successfully and autonomously learn elementary motion skills based on a playful exploration of its wheels and sensors